Vision-based needle mounting method and equipment

Abstract

The invention relates to a needle installing method and device based on vision. The method comprises the following steps that the positions of an optical calibration plate and a first photographing assembly are adjusted respectively; after the transfer assembly controls the first photographing assembly to move by a preset displacement in the peripheral direction in the horizontal direction, the first photographing assembly and the second photographing assembly collect displacement images of the optical calibration plate respectively, and then the transfer assembly controls the first photographing assembly to return to the original point; the transfer assembly controls the first photographing assembly to move in the first direction X and the second direction Y in the horizontal direction, and the first photographing assembly and the second photographing assembly shoot mark point images respectively; the first photographing assembly and the second photographing assembly execute checkerboard calibration; and calculating the relative distance between the first photographing assembly and the pin head and between the second photographing assembly and the pin head.

Description

Technical Field

[0001] The invention relates to the field of needle tube assembly equipment, and in particular to a vision-based calibration and needle assembly method and related equipment. Background Art

[0002] In the current needle assembly process, manual operation is still the main method, and the needles need to be carefully assembled one by one. The precise design of the needle and the compact arrangement between the needles make the precise positioning of the needles a major technical challenge. During the assembly process, the needles must be precisely aligned and embedded in the needle holes of the needle plate. Any slight deviation may lead to the failure of the entire assembly process. Therefore, the precise alignment between the needle and the needle hole is particularly important, which places extremely high demands on the accuracy of the assembly system.

[0003] In order to improve the accuracy of positioning, the existing assembly process usually uses the upper camera component to determine the position of the pin plate. However, in actual operation, the position of the pin head may change, which may cause the relative position between the pin head and the camera component to shift. This shift may cause deviations in the positioning of the pin head during subsequent processing or use, thereby affecting the accuracy of the pin. This decrease in accuracy not only increases the difficulty of processing, but may also have an adverse effect on the final quality and performance of the product. Therefore, ensuring precise alignment and stability between the pin head and the camera component is crucial to improving the efficiency and quality of the entire assembly process. Summary of the invention

[0004] The present invention provides a vision-based needle loading method and device, aiming to solve at least one of the technical problems existing in the prior art.

[0005] The vision-based calibration method and needle-loading method involved in the technical solution of the present invention are basically applied to vision-based needle-loading equipment. The needle-loading equipment includes a frame, a bracket is arranged on the frame, a needle head is arranged below the bracket, a through hole is arranged in the needle head, and the through hole is used for the needle tube to pass through; a transfer component, used to drive the bracket to move in the up and down, left and right, and front and back directions; a first camera component, the first camera component is arranged below the bracket; a second camera component, the second camera component is arranged on the frame, and the second camera component is vertically aligned with the first camera component; an optical calibration plate, the optical calibration plate is arranged directly above the second camera component and below the first camera component, and multiple positioning marks are arranged on the upper and lower sides of the optical calibration plate, and the multiple positioning marks are symmetrically arranged up and down; a fourth power member, the fourth power member is used to drive the optical calibration plate to approach or move away from directly above the second camera component.

[0006] The technical solution of the present invention relates to a vision-based calibration method comprising the following steps:

[0007] S100, respectively adjusting the positions of the optical calibration plate and the first camera assembly so that the optical calibration plate is centered and clearly focused in the first camera assembly and the second camera assembly;

[0008] S200, after the transfer component controls the first camera component to move in four directions in the horizontal direction by preset displacements, the first camera component and the second camera component respectively collect displacement images of the optical calibration plate, and then the transfer component controls the first camera component to return to the origin;

[0009] S300, the transfer component controls the first photographing component to move in a first direction X and a second direction Y in the horizontal direction, and the first photographing component and the second photographing component respectively photograph the marking point images;

[0010] S400: The first photographing component and the second photographing component perform chessboard calibration;

[0011] S500: Calculate the relative distances between the first camera assembly, the second camera assembly and the pin head.

[0012] Another aspect of the technical solution of the present invention relates to a vision-based needle installation method, which may include the following steps in addition to the vision-based calibration method:

[0013] S600, the transfer component controls the support to move to above the product to be installed with needles, and the needle insertion head is located at the needle insertion point of the product to be installed with needles;

[0014] S700, the first photographing component divides the upper surface image of the product to be loaded with needles within the field of view into a plurality of regions according to a preset path planning, thereby obtaining the coordinates of the center point of each region;

[0015] S800, the first photographing component moves and photographs according to the coordinates of the center point of each area, and determines the circular hole where the pin needs to be inserted and the circular hole position coordinates where the circular hole is located based on template matching and circle positioning;

[0016] S900. Based on the preset path planning, the transfer component controls the needle insertion head to move to the top of the circular hole to be loaded with the needle in sequence and perform the needle insertion operation.

[0017] Another aspect of the technical solution of the present invention relates to a computer-readable storage medium having program instructions stored thereon, wherein the program instructions, when executed by a processor, implement the above-mentioned vision-based calibration method and / or needle installation method.

[0018] Another aspect of the technical solution of the present invention relates to a needle loading device for executing the vision-based needle loading method, the needle loading device comprising: a frame, the frame being provided with a transfer assembly, the transfer assembly being used to drive the bracket to move in the up-down, left-right and front-back directions; a bracket, the bracket being arranged below the frame; a first camera assembly, the first camera assembly being arranged below the bracket; a second camera assembly, the second camera assembly being arranged on the frame, the second camera assembly being vertically aligned with the first camera assembly; a steering assembly, the steering assembly comprising a steering slot, a first power member and a second power member, the steering slot being rotatably arranged on After the conveying wheel of the bracket is rotated, the transfer trough can move to the steering trough, the first power member drives the steering trough to rotate, the steering assembly also includes an adsorption member, the adsorption member is used to adsorb the needle tube, the steering assembly also includes a third camera assembly, the third camera assembly is used to photograph the steering trough, and the third camera assembly is electrically connected to the first power member; the guide block is rotatably arranged on the bracket, the steering trough and the guide block are connected by a pipeline, the second power member is used to drive the needle tube on the steering trough to be transported along the pipeline to the guide block; the needle head is detachably arranged on the guide block, and the needle head is provided with a through hole.

[0019] The beneficial effects of the present invention are as follows: the first camera component and the pin head are both arranged on the bracket, and the first camera component can detect the position of the pinhole on the pin plate. After determining the position, the bracket is controlled to move so that the pin head can move to the corresponding position to realize the positioning of the pin head; the second camera component can take pictures directly below the optical calibration plate. After the first camera component moves to the system default directly above the optical calibration plate, the first camera component takes pictures directly above the optical calibration plate. The two groups of photos are compared. Since the patterns on the upper and lower sides are completely symmetrical to each other, the position deviation of the first camera component and the second camera component can be quickly calculated by comparing the two patterns. The optical calibration plate is removed, and the transfer component moves the bracket so that the pin head is moved to the directly above the second camera component. The pin head is aligned with the center of the second camera component. Whether it is at the center can be judged after shooting by the second camera component. The distance moved by the transfer component is compensated by the position deviation of the first camera component and the second camera component, and the relative distance between the first camera component and the pin head can be calculated. By setting two camera components, the distance between the first camera component and the pin head can be effectively calculated to ensure the processing accuracy of the pin head pin. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the needle loading device according to an embodiment of the present invention;

[0021] Figure 2 for Figure 1 A schematic structural diagram of the bracket part from a first viewing angle is shown;

[0022] Figure 3 for Figure 1 A schematic diagram of the structure of the bracket part from a second viewing angle is shown;

[0023] Figure 4 for Figure 1 A schematic diagram of the structure of the storage tank and the steering assembly shown;

[0024] Figure 5 for Figure 1 The structural schematic diagram of the guide block pressing needle structure shown;

[0025] Figure 6 for Figure 6 A schematic diagram of the structure of a pipeline cutting section is shown;

[0026] Figure 7 for Figure 6 A schematic structural diagram of a cut section of the locking assembly is shown;

[0027] Figure 8 for Figure 1 A schematic structural diagram of a second photographing assembly is shown;

[0028] Fig. 9 for Figure 1 The structural schematic diagram of the optical calibration plate shown;

[0029] Fig.10 is a flowchart of the vision-based needle loading method;

[0030] Fig.11 It is a flowchart of the vision-based calibration method;

[0031] Fig.12 It is a schematic diagram of the process of the vision-based needle loading method;

[0032] Fig.13 Examples of template feature extraction images collected during the vision-based needle-loading method process;

[0033] Fig.14 This is a schematic diagram of the effect of the vision-based needle loading method;

[0034] Fig.15 It is a schematic diagram of the point coordinates of the vision-based needle-loading method;

[0035] Fig.16 and 17 Schematic diagrams of the layout of the first and second camera components respectively. Reference numerals: 100, frame; 110, transfer assembly; 120, second camera assembly; 121, refractive lens; 122, lens; 130, optical calibration plate; 140, fourth power member; 200, bracket; 210, first camera assembly; 300, storage tank; 310, discharge port; 320, stopper; 400, conveying wheel; 410, transfer tank; 500, steering assembly; 510, steering tank; 520, first power member; 530, second power member; 550 , third camera assembly; 600, guide block; 610, pin head; 611, through hole; 612, first connection plane; 620, positioning head; 621, positioning plane; 622, second connection plane; 630, pipeline; 631, guide channel; 632, guide channel; 700, pressure needle assembly; 710, pressure block; 720, third power member; 730, pressure sensor; 740, displacement sensor; 800, locking assembly; 810, connecting protrusion; 820, locking member.

[0036] Reference numerals: 100, frame; 110, transfer assembly; 120, second camera assembly; 121, refractive lens; 122, lens; 130, optical calibration plate; 140, fourth power member; 200, bracket; 210, first camera assembly; 300, storage tank; 310, discharge port; 320, stopper; 400, conveying wheel; 410, transfer tank; 500, steering assembly; 510, steering tank; 520, first power member; 530, second power member; 550 , third camera assembly; 600, guide block; 610, pin head; 611, through hole; 612, first connection plane; 620, positioning head; 621, positioning plane; 622, second connection plane; 630, pipeline; 631, guide channel; 632, guide channel; 700, pressure needle assembly; 710, pressure block; 720, third power member; 730, pressure sensor; 740, displacement sensor; 800, locking assembly; 810, connecting protrusion; 820, locking member. DETAILED DESCRIPTION

[0037] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other without conflict.

[0038] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature, or it may be indirectly fixed or connected to the other feature. In addition, the descriptions of up, down, left, right, top, bottom, etc. used in the present invention are only relative to the relative positional relationship of the components of the present invention in the drawings.

[0039] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments, not for limiting the present invention. The term "and / or" used herein includes any combination of one or more related listed items.

[0040] It should be understood that, although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, without departing from the scope of the present disclosure, the first element may also be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0041] Reference Figures 1 to 17 In some embodiments, the method involved in the technical solution of the present invention is applied to a vision-based needle loading device, which includes a frame 100, a bracket 200 is provided on the frame 100, a needle head 610 is provided below the bracket 200, and a through hole 611 is provided in the needle head 610, and the through hole 611 is used for the needle tube to pass through; a transfer component 110, which is used to drive the bracket 200 to move in the up-down, left-right and front-back directions; a first camera component 210, which is provided below the bracket 200; a second camera component 1 20, the second camera assembly 120 is arranged on the frame 100, and the second camera assembly 120 is vertically aligned with the first camera assembly 210; the optical calibration plate 130, the optical calibration plate 130 is arranged just above the second camera assembly 120 and below the first camera assembly 210, and a plurality of positioning marks are provided on both the upper and lower sides of the optical calibration plate 130, and the plurality of positioning marks are symmetrically arranged up and down; the fourth power member 140, the fourth power member 140 is used to drive the optical calibration plate 130 to approach or move away from just above the second camera assembly 120.

[0042] Reference Fig.16 and Fig.17The configuration layout of the first and second camera components shown, in one embodiment, each camera component may include a camera, a telecentric lens, and a coaxial light source arranged between the telecentric lens and the target object (such as a pin product). As the position layout of the camera component located in the needle installation device, the first camera component 210 can be implemented as an upper camera, and the camera of the first camera component shoots the target object through a lens and a straight-axis coaxial light source. The second camera component 120 can be implemented as a lower camera, and the camera of the second camera component shoots the target object through a lens and a corner coaxial light source. In this embodiment, the chessboard calibration of the upper and lower cameras and the use of the calibration table are to ensure that the size and position relationship between the image captured by the camera and the actual object is accurate, to ensure that the coordinates can be accurately converted, and the upper and lower cameras establish a mutual conversion relationship through the calibration plate coordinate mapping relationship.

[0043] Reference Fig.10 and Fig.11 In some embodiments, the vision-based calibration method according to the present invention comprises the following steps:

[0044] S100, respectively adjusting the positions of the optical calibration plate 130 and the first camera assembly 210 so that the optical calibration plate 130 is centered and clearly focused in the first camera assembly 210 and the second camera assembly 120;

[0045] S200, after the transfer component 110 controls the first camera component 210 to move the preset displacements in the four directions in the horizontal direction, the first camera component and the second camera component 120 respectively collect displacement images of the optical calibration plate 130, and then the transfer component 110 controls the first camera component 210 to return to the origin;

[0046] S300, the transfer component 110 controls the first photographing component 210 to move in a first direction X and a second direction Y in the horizontal direction, and the first photographing component 210 and the second photographing component 120 respectively take images of the marking points;

[0047] S400, the first camera component 210 and the second camera component 120 perform chessboard calibration;

[0048] S500 , calculating the relative distances between the first camera assembly 210 , the second camera assembly 120 and the pin head 610 .

[0049] Step S100 may further include:

[0050] S110, the fourth power member 140 controls the optical calibration plate 130 to move to the position directly above the second camera assembly 120, and the second camera assembly 120 acquires an image of the optical calibration plate 130 to obtain a first image;

[0051] S120, if the optical calibration plate 130 is not located at the center of the first image, repeat step S110 so that the optical calibration plate 130 is centered in the second camera assembly 120. At this time, the optical calibration plate 130 is located directly above the second camera assembly 120;

[0052] S130, if the optical calibration plate 130 is located at the center of the first image, the transfer component 110 controls the bracket 200 to move upward or downward in the vertical direction, and the first camera component 210 acquires the image of the optical calibration plate 130 to obtain a second image;

[0053] S140 , if the second image is not in focus, repeat step S130 to make the optical calibration plate 130 in focus in the first camera assembly 210 .

[0054] Step S200 may further include:

[0055] S210, setting the pattern of the optical calibration plate 130 to a checkerboard, and the first camera component 210 and the second camera component 120 collect photos of the optical calibration plate 130 as a first displacement image;

[0056] S220, the transfer component 110 controls the bracket 200 to move forward in the first direction X in the horizontal direction by a first preset displacement, and the first photographing component 210 and the second photographing component 120 collect a photo of the optical calibration plate 130 as a second displacement image;

[0057] S230, the transfer component 110 controls the bracket 200 to return to the origin in the first direction X in the horizontal direction, and moves a first preset displacement in the negative direction of the first direction X, and the first camera component 210 and the second camera component 120 collect a photo of the optical calibration plate 130 as a third displacement image;

[0058] S240, the transfer component 110 controls the bracket 200 to return to the origin in the first direction X in the horizontal direction, and moves the bracket 200 in the positive direction of the second direction Y by a first preset displacement, and the first camera component 210 and the second camera component 120 collect the photo of the optical calibration plate 130 as a fourth displacement image, wherein the first direction X and the second direction Y are orthogonal in the horizontal direction;

[0059] S250, the transfer component 110 controls the bracket 200 to return to the origin in the second direction Y in the horizontal direction, and moves the first preset displacement in the negative direction of the second direction Y, the first camera component 210 and the second camera component 120 collect the photo of the optical calibration plate 130 as the fifth displacement image, and the transfer component 110 controls the bracket 200 to return to the origin in the second direction Y in the horizontal direction;

[0060] S260: Based on a preset distortion correction interface, store and analyze the first displacement image, the second displacement image, the third displacement image, the fourth displacement image, and the fifth displacement image.

[0061] Specifically, step S200 is to calibrate the distortion of the image. The purpose of distortion calibration is to ensure that the image captured by the camera corresponds to the position and size in the actual physical world, reduce errors, and improve the accuracy of measurement or detection. If the camera lens is distorted, the objects on the monitoring surface may be distorted, such as curved edges, or the size and shape of the object under control may not match the actual size. In this case, if the system needs to calculate the precise position of the object or perform shape recognition based on the image, the distortion will lead to wrong results. Through distortion calibration, we can correct this lens distortion. The corrected image is closer to the actual shape and position of the object, so that the monitoring system can complete the task more accurately.

[0062] Step S300 may further include:

[0063] S310, setting the pattern of the optical calibration plate 130 to a positioning mark array, and the first camera component 210 and the second camera component 120 collect photos of the optical calibration plate 130 as first mark point images;

[0064] S320, the transfer component 110 controls the bracket 200 to move in the positive direction of the first direction X by a second preset displacement, and the first photographing component 210 and the second photographing component 120 collect the photo of the optical calibration plate 130 as a second marking point image;

[0065] S330, the transfer component 110 controls the bracket 200 to move in the second direction Y in the positive direction by a second preset displacement, and the first camera component 210 and the second camera component 120 collect the photo of the optical calibration plate 130 as a third marking point image;

[0066] S340, the transfer component 110 controls the bracket 200 to move a second preset displacement in the negative direction of the first direction X, and the first photographing component 210 and the second photographing component 120 collect a photo of the optical calibration plate 130 as a fourth marking point image;

[0067] S350, the transfer component 110 controls the bracket 200 to move a second preset displacement in the negative direction of the first direction X, and the first photographing component 210 and the second photographing component 120 collect a photo of the optical calibration plate 130 as a fifth marking point image;

[0068] S360, the transfer component 110 controls the bracket 200 to move a second preset displacement in the negative direction of the second direction Y, and the first camera component 210 and the second camera component 120 collect a photo of the optical calibration plate 130 as a sixth marking point image;

[0069] S370, the transfer component 110 controls the bracket 200 to move a second preset displacement in the negative direction of the second direction Y, and the first camera component 210 and the second camera component 120 collect a photo of the optical calibration plate 130 as a seventh marking point image;

[0070] S380, the transfer component 110 controls the bracket 200 to move in the positive direction of the first direction X by a second preset displacement, and the first photographing component 210 and the second photographing component 120 collect a photo of the optical calibration plate 130 as an eighth marking point image;

[0071] S390, the transfer component 110 controls the bracket 200 to move in the positive direction of the first direction X by a second preset displacement, and the first photographing component 210 and the second photographing component 120 collect photos of the optical calibration plate 130 as the ninth marking point image.

[0072] Specifically, step S300 is to perform nine-point calibration on the image. Nine-point calibration is a method for calibrating the camera viewing angle and measurement accuracy in a machine vision system. Its significance is to ensure that the image captured by the camera corresponds to the position and size in the actual physical world, reduce errors, and improve the accuracy of measurement or detection.

[0073] Step S400 may further include:

[0074] S410, setting the pattern of the optical calibration plate 130 to a checkerboard, and the transfer component 110 controls the bracket 200 to move horizontally to a preset checkerboard calibration point;

[0075] S420, the first photographing component 210 photographs the chessboard, and establishes a first coordinate relationship between the first photographing component 210 and the optical calibration plate 130 based on the distortion-corrected image;

[0076] S430, the second photographing component 120 photographs the chessboard to establish a second coordinate relationship between the second photographing component 120 and the optical calibration plate 130;

[0077] S440 , based on the coordinate mapping relationship of the optical calibration plate 130 , the first camera assembly 210 and the second camera assembly 120 establish a mutual position coordinate conversion relationship.

[0078] Specifically, step S400 is a checkerboard calibration of the first camera component 210 and the second camera component 120, which is to ensure that the size and position relationship between the image taken by the camera and the actual object is accurate, and to ensure that the coordinates can be accurately converted. The first camera component 210 and the second camera component 120 establish a mutual conversion relationship through the calibration plate coordinate mapping relationship.

[0079] Step S500 may further include:

[0080] S510, the transfer component 110 controls the bracket 200 to move in the horizontal direction so that the pin head 610 is located within the field of view of the second camera component 120;

[0081] S520, setting the physical offset of the first photographing component 210 based on the moving distance of the transfer component 110;

[0082] S530, the second camera assembly 120 locates the position of the through hole 611 in the pin head 610, obtains the pin head position, and converts the pin head position into the coordinate system of the optical calibration plate 130;

[0083] S540, converting the central image coordinates of the first photographing component 210 into the coordinate system of the optical calibration plate 130;

[0084] S550 , based on the converted pin head position and the center image coordinates, calculate the relative distances between the first camera assembly 210 , the second camera assembly 120 and the pin head 610 .

[0085] Specifically, step S500 is dual-camera joint calibration, which is mainly used to calculate the offset between the camera and the needle outlet.

[0086] Reference Figures 12 to 15 In some embodiments, the vision-based needle loading method according to the present invention generally includes the following steps:

[0087] S600, the transfer assembly 110 controls the support 200 to move above the product to be loaded with needles, and the needle insertion head 610 is located at the needle insertion point of the product to be loaded with needles;

[0088] S700: The first camera assembly 210 divides the upper surface image of the product to be loaded with needles within the field of view into a plurality of regions according to the preset path planning, thereby obtaining the coordinates of the center point of each region.

[0089] S800, the first photographing component 210 moves and photographs according to the coordinates of the center point of each area, and determines the circular hole where the pin needs to be inserted and the circular hole position coordinates where the circular hole is located based on template matching and circle positioning;

[0090] S900. Based on the preset path planning, the transfer component 110 controls the pin insertion head 610 to move to the top of the circular hole to be loaded with the pin in sequence and perform the pin insertion operation.

[0091] Preferably, the vision-based needle-loading method according to the present invention can pre-calibrate method steps S100 to S500 before step S600.

[0092] For step S900, template matching is a technique for finding the area in a larger area of ​​an image that is most similar to a given template image. It is often used to identify specific objects or patterns in an image. Circle localization refers to the process of detecting and determining the position, radius, and exact shape of circular objects in an image. Template matching combined with circle localization improves the accuracy and efficiency of the detection task. Fig.13 The template feature extraction picture shown uses template matching technology to find the approximate area of ​​interest in the image. Within the area determined by template matching, a circle positioning algorithm is applied to accurately find the position and size of the circular object. Once the circle is detected, its center coordinates and radius are extracted.

[0093] In a specific embodiment, the point to be inserted is divided into regions according to the camera field of view. At this time, multiple points in the center of the regions can be obtained. Then, the camera moves and takes pictures according to the center point of each region. The captured pictures are used for template matching and circle positioning to find the circular hole where the pin needs to be inserted. The physical position of the point to be inserted is obtained through algorithm conversion, and then the module is driven to the actual position to perform the insertion action. Fig.14 The diagram shows the partitioning of the points to be inserted. The numerical sequence in the figure represents the preset sequence of the paths to be inserted. Each small square represents a divided area, and the red cross in each area represents the position of the dot identified in real time. Fig.14 , the coordinates of the center point and the number of identified dots are as follows Fig.15 shown.

[0094] Return to reference Figures 1 to 9 In some embodiments, the needle loading device according to the present invention further includes: a material storage trough 300, which is arranged on the bracket 200, and the material storage trough 300 is provided with a discharge port 310; a conveying wheel 400, which is rotatably arranged on the bracket 200, and the conveying wheel 400 is provided with a plurality of transfer troughs 410, and the transfer troughs 410 are arranged on the peripheral side of the conveying wheel 400, and the peripheral side of the conveying wheel 400 is docked with the material storage trough 300 and after rotation, the plurality of transfer troughs 410 can be respectively docked with the discharge port 310; a positioning head 620, which is detachably arranged on the guide block 600, and the positioning head 620 is provided with a positioning plane 621; a needle pressing assembly 700, the needle pressing assembly The assembly 700 includes a pressure block 710 and a third power member 720, wherein the pressure block 710 is disposed on the bracket 200 and is located above the pin head 610, and the third power member 720 drives the pressure block 710 to move toward the pin head 610; a locking assembly 800, wherein the locking assembly 800 includes: a connecting protrusion 810, which is disposed on the guide block 600, and the bracket 200 is provided with a first spherical groove, and the connecting protrusion 810 is provided with a first spherical surface, and the first spherical surface and the first spherical groove cooperate; a locking member 820, which passes through the connecting protrusion 810 and is connected to the bracket 200, so that the guide block 600 and the bracket 200 are relatively fixed.

[0095] In other embodiments, the needle loading device according to the present invention may include: a bracket 200; a material storage tank 300, which is arranged on the bracket 200, and the material storage tank 300 is provided with a discharge port 310; a conveying wheel 400, which is rotatably arranged on the bracket 200, and the conveying wheel 400 is provided with a plurality of transfer tanks 410, and the transfer tanks 410 are arranged on the peripheral side of the conveying wheel 400, and the peripheral side of the conveying wheel 400 is docked with the material storage tank 300, and after rotation, the plurality of transfer tanks 410 can be respectively docked with the discharge port 310; a steering assembly 500, including a steering tank 510, a first power member 520 and a second power member 530, and the steering tank 510 is rotatably arranged on the bracket 200. The bracket 200, after the conveying wheel 400 is rotated, the transfer groove 410 can move to the steering groove 510, and the first power member 520 drives the steering groove 510 to rotate; the guide block 600 is rotatably arranged on the bracket 200, and the steering groove 510 and the guide block 600 are connected through the pipeline 630, and the second power member 530 is used to drive the needle tube on the steering groove 510 to be transported along the pipeline 630 to the guide block 600; the needle head 610 is detachably arranged on the guide block 600, and the needle head 610 is provided with a through hole 611; the positioning head 620 is detachably arranged on the guide block 600, and the positioning head 620 is provided with a positioning plane 621.

[0096] According to the embodiment of the present invention, by such an arrangement, at least the following effects can be achieved: a large number of needle tubes can be placed in the storage trough 300 in advance, which is convenient for long-term work, and the needle tubes are discharged from the discharge port 310 below the storage trough 300; a motor is provided on the conveying wheel 400, which can drive the conveying wheel 400 to rotate continuously so that the needle tubes can be transported to the steering assembly 500 one by one, and the size of the transfer trough 410 is suitable for the diameter of the needle tube. A transfer trough 410 is provided on the conveying wheel 400, and the conveying wheel 400 rotates on the bracket 200. When the conveying wheel 400 docks with the discharge port 310 of the discharge trough, the needle tube just falls into the transfer trough 410, and the conveying wheel 400 continues to rotate, and the transfer trough 410 can move to the steering trough 510, and the needle tube just falls on the corresponding position of the steering trough 510. The steering trough 510 determines whether the steering trough 510 controls the driving of the first power member 520 by determining the direction of the needle tube. The steering groove 510 rotates to make the needle tube face the correct direction; the steering groove 510 and the guide block 600 are connected by the pipeline 630, so that the needle tube of the steering groove 510 is transported to the guide block 600 through the second power member 530, and the guide block 600 is rotatably arranged on the bracket 200. The guide block 600 can slightly adjust the angle so that the needle tube can be vertically inserted into the needle plate; when it is necessary to adjust the verticality of the positioning head 620, by installing the positioning head 620 on the guide block 600, adjusting the angle of the guide block 600, so that the positioning plane 621 fits the needle plate, fixing the guide block 600, so that the guide block 600 maintains the corresponding angle, replacing the needle head 610, and the needle tube is inserted into the needle plate along the through hole 611. The positioning angle of the positioning head 620 can ensure that the needle tube can be vertically inserted into the needle plate, preventing the needle tube from being inserted at an angle and causing damage to the needle tube, thereby improving the accuracy and yield of the product.

[0097] It can be understood that the turning groove 510 can be located below the conveying wheel 400. When the transfer groove 410 moves to the top of the turning groove 510, the needle tube naturally falls due to gravity and just falls into the turning groove 510. The turning groove 510 can also be provided with a guide slope. Please refer to the attached figure. The needle tube slides along the guide slope into the turning groove 510.

[0098] It can be understood that the turning groove 510 is provided with a groove running through the front and back, the needle tube can fall into the groove, and after rotation, both sides of the turning groove 510 can be connected to the pipeline 630 respectively.

[0099] In some embodiments, the pin pressing assembly 700 includes a pressing block 710 and a third power member 720 . The pressing block 710 is disposed on the bracket 200 and located above the pin head 610 . The third power member 720 drives the pressing block 710 to move toward the pin head 610 .

[0100] Some needle tubes can naturally fall into the needle grooves of the needle plate due to gravity, while some needle tubes cannot fall directly into the needle plate due to certain friction between the needle plate and the needle plate. The needle pressing assembly 700 can press the needle tubes into the needle plate.

[0101] In some embodiments, the needle pressing assembly 700 also includes a pressure sensor 730, which is disposed on the pressing block 710 and is used to detect the pressure of the pressing block 710. The pressure sensor 730 is disposed on the pressing block 710, and can detect the pressure between the needle tube and the needle plate when the pressing block 710 presses against the pressing needle. During the pressing process of the needle tube, if the pressure is less than the threshold value, the pressing assembly works normally. If the pressure is greater than the threshold value, the needle hole of the needle plate may be blocked, the angle may be skewed, the position may be skewed, and other problems may occur, resulting in excessive pressure. The pressing assembly is controlled to stop working, and an alarm is processed to remind the staff to handle it in time to prevent damage to the needle tube or the needle plate. It can be understood that the pressure of the normal pressing process of the pressure assembly gradually increases, and the threshold value is the pressure of the pressure assembly just reaching the maximum moving distance.

[0102] In some embodiments, the needle pressing assembly 700 further includes a displacement sensor 740 , which is disposed on the bracket 200 , and is used to detect the position of the needle tube.

[0103] The displacement sensor 740 can detect the moving distance of the needle tube and determine whether the needle tube has moved into place. The displacement sensor 740 can detect the position of the needle tube. If the needle tube moves to the corresponding position, the next step will be continued. If the needle tube cannot move to the corresponding position, the work will be stopped to ensure that the needle tube can move to the corresponding position.

[0104] In some embodiments, the first camera component 210 and the pin head 610 are both arranged on the bracket 200, and the relative position of the first camera component 210 and the pin head 610 can be determined. The first camera component 210 can detect the position of the pinhole on the pin plate, and after the position is determined, the bracket 200 is controlled to move, so that the pin head 610 can be moved to the corresponding position, thereby realizing the precise positioning of the pin head 610.

[0105] In some embodiments, the third power member 720 is a voice coil motor or a telescopic cylinder.

[0106] In some embodiments, a frame 100 is further included, and the frame 100 is provided with a transfer assembly 110, and the transfer assembly 110 is used to drive the bracket 200 to move in the up-down, left-right, and front-back directions.

[0107] The frame 100 is used to support the entire device. The transfer assembly 110 is a three-axis processing platform, which is provided with a plurality of transport power parts and can move the bracket 200 on the frame 100 arbitrarily.

[0108] In some embodiments, a limiting plate 320 is provided in the material storage tank 300, and the distance between the limiting plate 320 and the inner wall of the material storage tank 300 is greater than the diameter of one needle tube and less than the diameter of three needle tubes.

[0109] The needle tube is placed above the limiting plate 320, and the limiting plate 320 is located in the middle of the storage trough 300. The needle tube can pass through the limiting plate 320 and the inner wall of the storage trough 300 and fall to the discharge port 310 located below. The limiting plate 320 divides the storage trough 300 into two parts to prevent the needle tubes below from being piled up and the pressure between the needle tubes from being too high, which affects the transportation effect of the conveying wheel 400.

[0110] In some embodiments, the steering assembly 500 further includes a suction piece, which is used to suction the needle tube.

[0111] The adsorption member is a suction cup structure that can provide negative pressure power, which can fix the needle tube in the steering groove 510 to prevent the needle tube from falling during the rotation process.

[0112] In some embodiments, the turning groove 510 is provided with a V-shaped groove.

[0113] When the needle tube falls into the turning groove 510, it can slide along the inner wall of the V-shaped groove to the middle of the V-shaped groove. The needle tube is in the middle and the position of each needle tube can be kept consistent, ensuring that subsequent work can be carried out accurately.

[0114] In some embodiments, the minimum distance between the circumference of the delivery wheel 400 and the material storage tank 300 is less than the diameter of a needle tube.

[0115] The minimum distance is smaller than the diameter of a needle tube, which can prevent the needle tube from falling into the gap between the discharge trough along the conveying wheel 400. A certain gap is set between the discharge trough along the conveying wheel 400 to prevent friction between the storage trough 300 and the conveying wheel 400.

[0116] In some embodiments, the first power member 520 is a rotating motor or a rotating cylinder. In some embodiments, the second power member 530 is a wind pressure power member or a telescopic cylinder. The wind pressure power member is a wind generator, which can blow the needle tube toward the guide block 600 by setting a negative pressure wind device on the pipeline 630, or setting a positive pressure wind device on the side of the steering groove 510 opposite to the pipeline 630; setting a telescopic cylinder on the side of the steering groove 510 opposite to the pipeline 630, which can push the needle tube toward the pipeline 630 and move along the pipeline 630 to the guide block 600.

[0117] In some embodiments, the third camera assembly 550 is used to photograph the steering slot 510, and the third camera assembly 550 is electrically connected to the first power member 520. The third camera assembly 550 is used to photograph the steering slot 510, to determine the direction of the needle tube in the steering slot 510, and to control whether the first power member rotates to adjust the direction of the needle tube.

[0118] Furthermore, the steering assembly 500 is also provided with a lifting mechanism, which is used to drive the steering trough 510 to move in the up and down directions. Before the steering trough 510 rotates, the steering trough 510 is first moved upward or downward to separate the steering trough 510 from other components to prevent interference between the steering trough 510 and other components during rotation.

[0119] In some embodiments, a locking assembly 800 is also included, which includes: a connecting protrusion 810, which is arranged on the guide block 600, the bracket 200 is provided with a first spherical groove, the connecting protrusion 810 is provided with a first spherical surface, and the first spherical surface and the first spherical groove cooperate; a locking member 820, which passes through the connecting protrusion 810 and is connected to the bracket 200, so that the guide block 600 and the bracket 200 are relatively fixed. The first spherical surface and the first spherical groove cooperate, so that the connecting protrusion 810 located on the guide block 600 can rotate relative to each other based on the spherical surface, and the spherical structure can make the guide block 600 adjust with the center of the spherical surface as the center, and can adjust the angle in all directions; loosen the locking member 820, the connecting protrusion 810 can adjust the angle, lock the locking member 820, the locking member 820 abuts against the connecting protrusion 810, so that the guide block 600 is fixed on the bracket 200, which is conducive to the removal and installation of the locking member 820 and convenient for adjusting the angle. It is understandable that, due to the limitation of the spherical limiting structure, the adjustable angle of the guide block 600 is relatively small, but in general the error angle of the needle plate is also very small, therefore, the guide block 600 can be adjusted to a relatively small angle to meet the verticality requirement.

[0120] In some embodiments, the locking member 820 is threadedly connected to the bracket 200. Threaded connection is a widely used detachable fixed connection with advantages such as simple structure, reliable connection, and convenient assembly and disassembly. Threaded disassembly and assembly facilitates the disassembly and installation of the locking member 820 and facilitates angle adjustment.

[0121] In some embodiments, the connecting protrusion 810 is provided with a second spherical groove, and the second spherical groove is provided on the side of the connecting protrusion 810 opposite to the first spherical surface, and the locking member 820 is provided with a second spherical surface, and the second spherical surface cooperates with the second spherical groove. When the connecting protrusion 810 rotates, the second spherical groove is provided on the side of the connecting protrusion 810 opposite to the first spherical surface, and the position of the second spherical surface does not change. By providing the second spherical surface of the locking member 820, and the second spherical surface and the second spherical groove cooperate, it is ensured that there is always a maximum contact surface between the two, thereby improving the locking effect of the locking member 820.

[0122] In some embodiments, the pin head 610 is provided with a first connection plane 612, the first connection plane 612 is in contact with the guide block 600, and the extension direction of the through hole 611 is perpendicular to the first connection plane 612. The first connection plane 612 is in contact with the guide block 600, and the extension direction of the through hole 611 is perpendicular to the first connection plane 612. By determining the position of the first connection plane 612, it is ensured that the through hole 611 can extend vertically, and the verticality of the needle tube insertion is ensured. In some embodiments, the positioning head 620 is provided with a second connection plane 622, the second connection plane 622 is in contact with the guide block 600, and the second connection plane 622 is parallel to the positioning plane 621. The second connection plane 622 is in contact with the guide block 600, and the second connection plane 622 is parallel to the positioning plane 621. By determining the position of the second connection plane 622, it is ensured that the positioning plane 621 and the second connection plane 622 are parallel, and the position accuracy of the positioning of the guide block 600 is ensured.

[0123] In some embodiments, the guide block 600 is provided with a guide channel 631 and a guide channel 632. The pipeline 630, the guide channel 631, and the guide channel 632 are connected in sequence, and the diameter of the guide channel 632 gradually decreases from top to bottom. By connecting the pipeline 630, the guide channel 631, and the guide channel 632 in sequence, the needle tube can be transported to the guide block 600 along the route. The diameter of the guide channel 632 gradually decreases from top to bottom, which guides the needle tube and allows the needle tube to eventually fall into the needle hole in the middle.

[0124] In some embodiments, the device according to the present invention includes: a frame 100; a bracket 200, which is arranged on the frame 100; a first camera mechanism, which is arranged on the bracket 200; a transfer component 110, which is used to drive the bracket 200 to move in the up and down, left and right, and front and back directions; a pin head 610, which is arranged on the bracket 200; a second camera component 120, which is arranged on the frame 100; an optical calibration plate 130, which is arranged directly above the second camera component 120 and below the first camera component 210, and the optical calibration plate 130 is provided with multiple positioning marks on both the upper and lower sides, and the multiple positioning marks are symmetrically arranged up and down. Under this setting, the first camera component 210 and the pin head 610 are both arranged on the bracket 200. The first camera component 210 can detect the position of the pinhole on the pin plate. After determining the position, the bracket 200 is controlled to move so that the pin head 610 can move to the corresponding position to achieve the positioning of the pin head 610; the second camera component 120 can take pictures directly below the optical calibration plate 130. After the first camera component 210 moves to the system default position directly above the optical calibration plate 130, the first camera component 210 takes pictures directly above the optical calibration plate 130. The two groups of photos are compared. Since the patterns on the upper and lower sides are completely symmetrical to each other, the first camera component 210 can be quickly calculated by comparing the two patterns. and the position deviation of the second camera component 120, remove the optical calibration plate 130, and the transfer component 110 moves the bracket 200 to move the pin head 610 to the top of the second camera component 120, and align the pin head to the center of the second camera component 120. Whether it is at the center can be judged after shooting by the second camera component 120. The distance moved by the transfer component 110 is compensated by the position deviation of the first camera component 210 and the second camera component 120, and the relative distance between the first camera component 210 and the pin head 610 can be calculated. By setting two camera components, the distance between the first camera component 210 and the pin head 610 can be effectively calculated to ensure the pin processing accuracy of the pin head 610.

[0125] It can be understood that the position deviation of the first camera component 210 and the second camera component 120 can be quickly calculated by comparing the two patterns. It can be calculated by the distance between the shooting centers of the first camera component 210 and the second camera component 120 relative to the center of the optical calibration plate 130; it can also be calculated by making the pattern of one of the camera components symmetrical and then overlapping the two patterns for comparison and judgment.

[0126] In applications such as machine vision, image measurement, photogrammetry, and three-dimensional reconstruction, the optical calibration plate 130 needs to establish a geometric model of camera imaging in order to correct the distortion of the lens 122; determine the conversion relationship between physical size and pixels; and determine the relationship between the three-dimensional geometric position of a point on the surface of a spatial object and its corresponding point in the image.

[0127] By shooting a flat plate with a fixed-pitch pattern array with a camera and calculating it with a calibration algorithm, the geometric model of the camera can be obtained, thereby obtaining high-precision measurement and reconstruction results. The flat plate with a fixed-pitch pattern array is the calibration plate.

[0128] In some embodiments, the second camera assembly 120 includes a refractive lens 121 and a lens 122, and the lens 122 photographs the optical calibration plate 130 through the refractive lens 122. The lens 122 photographs the optical calibration plate 130 through the refractive lens 122, so that the lens 122 photographs a pattern symmetrical to the original pattern. In the deviation calculation, the position deviation of the first camera assembly 210 and the second camera assembly 120 can be quickly calculated by comparing the two patterns, and can be calculated by the distance between the shooting centers of the first camera assembly 210 and the second camera assembly 120 and the center of the optical calibration plate 130.

[0129] In some embodiments, the angle between the refractive lens 121 and the horizontal plane is 45 degrees. The 45-degree lens makes the pattern formed by it more accurate, which is beneficial to the calculation of deviation.

[0130] In some embodiments, the positioning mark is a through hole 611, and the through hole 611 passes through the optical calibration plate 130. Through the through hole 611 that passes through the upper and lower sides, the shape and pattern of the upper and lower sides of the optical calibration plate 130 are completely symmetrical, and the through hole 611 structure can also allow the second camera assembly 120 to directly shoot the pin head 610 through the through hole 611. Under this structure, the optical calibration plate 130 can be removed.

[0131] In some embodiments, multiple positioning marks form a grid. The optical calibration plate 130 with a grid pattern can determine the conversion relationship between physical size and pixels, which is conducive to quickly calculating the position deviation through the length of the grid, with higher calculation accuracy and convenient use.

[0132] In some embodiments, the positioning mark array is distributed on the optical calibration plate 130. The optical calibration plate 130 with array distribution can determine the distance between different positioning marks, and by determining the conversion relationship between physical size and pixels, it is beneficial to quickly calculate the position deviation through the length of the grid, with higher calculation accuracy and convenient use.

[0133] In some embodiments, a fourth power member 140 is further included, and the fourth power member 140 is used to drive the optical calibration plate 130 to approach or move away from the top of the second camera assembly 120. The fourth power member 140 moves the optical calibration plate 130 to approach or move away from the top of the second camera assembly 120, so as to facilitate the subsequent shooting operation of the second camera assembly 120 on the pin head 610.

[0134] In some operational embodiments, the needle installation method according to the present invention may include the following steps: pre-positioning, installing the positioning head 620 on the guide block 600, rotating and adjusting the direction of the guide block 600 and moving the bracket 200 so that the guide plane of the positioning head 620 is completely in contact with the needle plate, fixing the guide block 600 and replacing the positioning head 620 with a pin head 610; photographing and positioning, photographing the needle plate through the first photographing component 210 to locate the pinhole on the needle plate; moving the bracket 200 to move the pin head 610 to the top of the corresponding pinhole; transporting the needle tube, driving the conveying wheel 400 to rotate, the needle tube of the storage trough 300 falls into the transfer trough 410 of the conveying wheel 400, and the needle tube leaves the conveying wheel 400 and is transported to the pin head 610 on the guide block 600; and needle head installation, installing the needle tube on the pin head 610 onto the needle plate.

[0135] By installing the positioning head 620 on the guide block 600, adjusting the angle of the guide block 600, making the positioning plane 621 fit the needle plate, fixing the guide block 600, making the guide block 600 maintain the corresponding angle, replacing the pin head 610, and inserting the needle tube into the needle plate along the through hole 611. By positioning the angle of the positioning head 620, it can be ensured that the needle tube can be vertically inserted into the needle plate to prevent the needle tube from being inserted obliquely; the first camera component 210 and the pin head 610 are both arranged on the bracket 200, and the relative position of the first camera component 210 and the pin head 610 can be determined. The position of the pinhole on the needle plate can be detected by the first camera component 210. After determining the position, the bracket 200 is controlled to move so that the pin head 610 can be moved to the corresponding position to achieve accurate positioning of the pin head 610; a large number of needles can be placed in the storage tank 300 in advance. Tube, convenient for long-term work, the needle tube is discharged from the discharge port 310 below the storage tank 300; a motor is provided on the conveying wheel 400, which can drive the conveying wheel 400 to rotate continuously so that the needle tubes can be transported to the steering assembly 500 one by one, and the size of the transfer groove 410 is suitable for the diameter of the needle tube. The conveying wheel 400 is provided with a transfer groove 410, and the conveying wheel 400 rotates on the bracket 200. When the conveying wheel 400 docks with the discharge port 310 of the discharge tank, the needle tube just falls into the transfer groove 410, and the conveying wheel 400 continues to rotate to transport the needle tubes one by one to the needle head 610; the needle tube is pressed onto the needle plate by the pressure assembly; the entire processing process can determine the flatness of the needle plate, correct the deviation of the verticality of the needle head 610, and automatically insert multiple needle tubes into the needle plate, with high working efficiency and high processing accuracy, and effectively reducing the wear between the needle plate and the needle tube.

[0136] In some embodiments, the needle installation method further includes a needle pressing detection step A, wherein the position of the needle tube is detected by the displacement sensor 740. If the needle tube moves to the corresponding position, the next step is continued. If the needle tube cannot move to the corresponding position, the work is stopped. The displacement sensor 740 can detect the moving distance of the needle tube to determine whether the needle tube has moved into place. The position of the needle tube is detected by the displacement sensor 740. If the needle tube moves to the corresponding position, the next step is continued. If the needle tube cannot move to the corresponding position, the work is stopped to ensure that the needle tube can move to the corresponding position.

[0137] In some embodiments, the needle tube installation step also includes a needle pressing detection step B, in which the pressure of the needle tube pressing process is detected by the pressure sensor 730. When the needle tube does not move to the corresponding position, if the pressure is greater than the threshold value, the operation stops, and if it is less than the threshold value, the operation continues. The pressure sensor 730 is arranged on the pressing block 710. When the pressing block 710 presses the pressing needle, it can detect the pressure between the needle tube and the needle plate. During the needle tube pressing process, if the pressure is less than the threshold value, the pressing component works normally. If the pressure is greater than the threshold value, the needle hole of the needle plate may be blocked, the angle may be skewed, the position may be skewed, and other problems may occur, resulting in excessive pressure. The pressing component is controlled to stop working, and an alarm is processed to remind the staff to deal with it in time to prevent damage to the needle tube or the needle plate. It can be understood that the pressure of the normal pressure component during the pressing process gradually increases, and the threshold value is the pressure of the pressure component just reaching the maximum moving distance.

[0138] It should be appreciated that the method steps in the embodiments of the present invention can be implemented or implemented by a computer hardware device, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The method can use standard programming techniques. Each program can be implemented in a high-level process or object-oriented programming language to communicate with a computer system. However, if necessary, the program can be implemented in an assembly or machine language. In any case, the language can be a compiled or interpreted language. In addition, the program can be run on a programmed ASIC for this purpose.

[0139] Furthermore, the operations of the processes described herein may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and / or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) that is executed collectively on one or more processors, by hardware, or a combination thereof. The computer program includes a plurality of instructions that may be executed by one or more processors.

[0140] Further, the method can be implemented in any type of computing platform that is operably connected to a suitable computer, including but not limited to a personal computer, a minicomputer, a mainframe, a workstation, a network or distributed computing environment, a separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, etc. Various aspects of the present invention can be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, an optical read and / or write storage medium, a RAM, a ROM, etc., so that it can be read by a programmable computer, and when the storage medium or device is read by the computer, it can be used to configure and operate the computer to perform the process described herein. In addition, the machine-readable code, or portions thereof, can be transmitted via a wired or wireless network. When such media includes instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor, the invention described herein includes these and other different types of non-transitory computer-readable storage media. When programmed according to the methods and techniques of the present invention, the present invention can also include the computer itself.

[0141] The computer program can be applied to input data to perform the functions described herein, thereby converting the input data to generate output data stored in a non-volatile memory. The output information can also be applied to one or more output devices such as a display. In a preferred embodiment of the present invention, the converted data represents physical and tangible objects, including specific visual depictions of physical and tangible objects produced on the display.

[0142] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of protection of the present invention. Within the scope of protection of the present invention, its technical scheme and / or implementation method may have various modifications and changes.

Claims

1. A vision-based calibration method, applied to a vision-based needle-loading device, the vision-based needle-loading device comprising a bracket (200) and a transfer assembly (110), a needle insertion head (610) is arranged below the bracket (200), a through hole (611) is arranged inside the needle insertion head (610), the through hole (611) is used for a needle tube to pass through, and the transfer assembly (110) is used to drive the bracket (200) to move in at least one direction; It is characterized in that The vision-based calibration method comprises the following steps: S100, respectively adjusting the positions of the optical calibration plate (130) and the first camera assembly (210) so that the optical calibration plate (130) is centered and clearly focused in the first camera assembly (210) and the second camera assembly (120); S200, after the transfer component (110) controls the first camera component (210) to move in four directions in the horizontal direction by preset displacements, the first camera component and the second camera component (120) respectively collect displacement images of the optical calibration plate (130), and then the transfer component (110) controls the first camera component (210) to return to the origin; S300, the transfer component (110) controls the first photographing component (210) to move in a first direction X and a second direction Y in the horizontal direction, and the first photographing component (210) and the second photographing component (120) respectively photograph the marking point images; S400: the first photographing component (210) and the second photographing component (120) perform chessboard calibration; S500: Calculate the relative distances between the first camera assembly (210), the second camera assembly (120) and the pin head (610).

2. The vision-based calibration method according to claim 1, characterized in that: The step S100 includes: S110, controlling the optical calibration plate (130) to move to directly above the second photographing component (120) through a power component, so that the second photographing component (120) acquires an image of the optical calibration plate (130) to obtain a first image; S120: If, in the first image, the optical calibration plate (130) is not located at the center of the first image, repeat step S110 so that the optical calibration plate (130) is centered in the image of the second camera assembly (120). At this time, the optical calibration plate (130) is located directly above the second camera assembly (120); S130: If the optical calibration plate (130) is located at the center of the first image, the transfer component (110) controls the bracket (200) to move upward or downward in a vertical direction, and the first photographing component (210) acquires an image of the optical calibration plate (130) to obtain a second image; S140: If the second image is not in focus, repeat step S130 to make the optical calibration plate (130) in focus in the first camera assembly (210).

3. The vision-based calibration method according to claim 1, characterized in that: The step S200 includes: S210, setting the pattern of the optical calibration plate (130) to a checkerboard, and the first photographing component (210) and the second photographing component (120) collecting photos of the optical calibration plate (130) as a first displacement image; S220, the transfer component (110) controls the support (200) to move forward in a first direction X in the horizontal direction by a first preset displacement, and the first photographing component (210) and the second photographing component (120) collect photos of the optical calibration plate (130) as a second displacement image; S230, the transfer component (110) controls the support (200) to return to the origin in a first direction X in the horizontal direction, and moves a first preset displacement in the negative direction of the first direction X, and the first photographing component (210) and the second photographing component (120) collect a photograph of the optical calibration plate (130) as a third displacement image; S240, the transfer component (110) controls the support (200) to return to the origin in a first direction X in the horizontal direction, and to move a first preset displacement in a positive direction of a second direction Y, and the first photographing component (210) and the second photographing component (120) collect photos of the optical calibration plate (130) as a fourth displacement image, wherein the first direction X and the second direction Y are orthogonal in the horizontal direction; S250, the transfer component (110) controls the support (200) to return to the origin in the second direction Y in the horizontal direction, and moves a first preset displacement in the negative direction of the second direction Y, the first photographing component (210) and the second photographing component (120) collect photos of the optical calibration plate (130) as a fifth displacement image, and the transfer component (110) controls the support (200) to return to the origin in the second direction Y in the horizontal direction; S260: Based on a preset distortion correction interface, store and analyze the first displacement image, the second displacement image, the third displacement image, the fourth displacement image, and the fifth displacement image.

4. The vision-based calibration method according to claim 1, characterized in that: The step S300 includes: S310, setting the pattern of the optical calibration plate (130) to be a positioning mark array, and the first photographing component (210) and the second photographing component (120) collecting photos of the optical calibration plate (130) as first mark point images; S320, the transfer component (110) controls the support (200) to move in the first direction X in a positive direction by a second preset displacement, and the first photographing component (210) and the second photographing component (120) collect photos of the optical calibration plate (130) as second marking point images; S330, the transfer component (110) controls the support (200) to move in a positive direction in the second direction Y by a second preset displacement, and the first photographing component (210) and the second photographing component (120) collect photos of the optical calibration plate (130) as a third marking point image; S340, the transfer component (110) controls the support (200) to move in the negative direction of the first direction X by a second preset displacement, and the first photographing component (210) and the second photographing component (120) collect photos of the optical calibration plate (130) as a fourth marking point image; S350, the transfer component (110) controls the support (200) to move in the negative direction of the first direction X by a second preset displacement, and the first photographing component (210) and the second photographing component (120) collect photos of the optical calibration plate (130) as a fifth marking point image; S360, the transfer component (110) controls the support (200) to move in the negative direction of the second direction Y by a second preset displacement, and the first photographing component (210) and the second photographing component (120) collect a photograph of the optical calibration plate (130) as a sixth marking point image; S370, the transfer component (110) controls the support (200) to move in the negative direction of the second direction Y by a second preset displacement, and the first photographing component (210) and the second photographing component (120) collect a photograph of the optical calibration plate (130) as a seventh marking point image; S380, the transfer component (110) controls the support (200) to move in the first direction X in a positive direction by a second preset displacement, and the first photographing component (210) and the second photographing component (120) collect a photograph of the optical calibration plate (130) as an eighth marking point image; S390, the transfer component (110) controls the support (200) to move in the first direction X in a positive direction by a second preset displacement, and the first photographing component (210) and the second photographing component (120) collect photos of the optical calibration plate (130) as a ninth marking point image.

5. The vision-based calibration method according to claim 1, characterized in that: The step S400 includes: S410, setting the pattern of the optical calibration plate (130) to a chessboard, and the transfer component (110) controlling the support (200) to move in a horizontal direction to a preset chessboard calibration point; S420: the first photographing component (210) photographs a chessboard, and based on the distortion-corrected image, establishes a first coordinate relationship between the first photographing component (210) and the optical calibration plate (130); S430: the second photographing component (120) photographs the chessboard, and establishes a second coordinate relationship between the second photographing component (120) and the optical calibration plate (130); S440: Based on the coordinate mapping relationship of the optical calibration plate (130), the first photographing component (210) and the second photographing component (120) establish a mutual conversion relationship.

6. The vision-based calibration method according to claim 1, characterized in that: The step S500 includes: S510, the transfer component (110) controls the bracket (200) to move in a horizontal direction so that the pin head (610) is located within the field of view of the second camera component (120); S520, setting a physical offset calibrated by the first photographing component (210) based on the moving distance of the transfer component (110); S530, the second camera assembly (120) locates the position of the through hole (611) in the pin head (610), obtains the pin head position, and converts the pin head position into the coordinate system of the optical calibration plate (130); S540, converting the central image coordinates of the first photographing component (210) into the coordinate system of the optical calibration plate (130); S550: Calculate the relative distances between the first camera component (210) and the second camera component (120) and the pin head (610) based on the converted pin head position and the center image coordinates.

7. A vision-based needle loading method, characterized in that: The vision-based calibration method according to any one of claims 1 to 6 further comprises the following steps: S600, the transfer component (110) controls the support (200) to move above the product to be installed with needles, and the needle insertion head (610) is located at the needle insertion point of the product to be installed with needles; S700: the first photographing component (210) divides the upper surface image of the product to be loaded with needles within the field of view into a plurality of regions according to a preset path planning, thereby obtaining the coordinates of the center point of each region. S800, the first photographing component (210) moves and photographs according to the coordinates of the center point of each area, and determines the circular hole where the pin needs to be inserted and the coordinates of the circular hole where the circular hole is located based on template matching and circle positioning; S900. Based on a preset path planning, the transfer component (110) controls the needle insertion head (610) to move sequentially to the top of the circular hole to be loaded with the needle and perform the needle insertion operation. 8 . A computer-readable storage medium having program instructions stored thereon, wherein the program instructions, when executed by a processor, implement the method according to any one of claims 1 to 7.

9. A needle loading device, characterized in that: include: A frame (100), wherein the frame (100) is provided with a transfer assembly (110), and the transfer assembly (110) is used to drive the bracket (200) to move in the up-down, left-right, and front-back directions; A bracket (200), the bracket (200) being arranged below the frame (100); A first photographing component (210), the first photographing component (210) being arranged on the bracket (200), and the first photographing component (210) being used to photograph the needle plate; A second camera assembly (120), the second camera assembly (120) being disposed on the frame (100), the second camera assembly (120) being vertically aligned with the first camera assembly (210); A steering assembly (500), the steering assembly (500) comprising a steering groove (510), a first power member (520) and a second power member (530), the steering groove (510) being rotatably arranged on the bracket (200), the transfer groove (410) being able to move to the steering groove (510) after the conveying wheel (400) is rotated, the first power member (520) driving the steering groove (510) to rotate, the steering assembly (500) further comprising an adsorption member, the adsorption member being used to adsorb the needle tube, the steering assembly (500) further comprising a third camera assembly (550), the third camera assembly (550) being used to photograph the steering groove (510), the third camera assembly (550) being electrically connected to the first power member (520); A guide block (600) is rotatably disposed on the bracket (200); the steering groove (510) and the guide block (600) are connected via a pipeline (630); the second power member (530) is used to drive the needle tube on the steering groove (510) to be transported along the pipeline (630) to the guide block (600); The pin head (610) is detachably mounted on the guide block (600), and the pin head (610) is provided with a through hole (611).

10. The needle loading device according to claim 9, characterized in that: The needle loading device also includes a computer device having the computer-readable storage medium according to claim 8.

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